EP 3105163 B1 20190327 - AUTOMATED MOBILE BOOM SYSTEM FOR CRAWLING ROBOTS
Title (en)
AUTOMATED MOBILE BOOM SYSTEM FOR CRAWLING ROBOTS
Title (de)
AUTOMATISIERTES MOBILES AUSLEGERSYSTEM FÜR KRIECHENDE ROBOTER
Title (fr)
SYSTÈME DE FLÈCHE MOBILE AUTOMATISÉ POUR ROBOTS À CHENILLES
Publication
Application
Priority
- US 201414176169 A 20140210
- US 2014062338 W 20141027
Abstract (en)
[origin: US2015226369A1] A system comprising a multi-functional boom subsystem integrated with a holonomic-motion boom base platform. The boom base platform may comprise: Mecanum wheels with independently controlled motors; a pair of sub-platforms coupled by a roll-axis pivot to maintain four-wheel contact with the ground surface; and twist reduction mechanisms to minimize any yaw-axis twisting torque exerted on the roll-axis pivot. A computer with motion control software may be embedded on the boom base platform. The motion control function can be integrated with a real-time tracking system. The motion control computer may have multiple platform motion control modes: (1) a path following mode in which the boom base platform matches the motion path of the surface crawler (i.e., integration with crawler control); (2) a reactive mode in which the boom base platform moves based on the pan and tilt angles of the boom arm; and (3) a collision avoidance mode using sensors distributed around the perimeter of the boom base platform to detect obstacles.
IPC 8 full level
B66C 13/48 (2006.01); B66C 23/72 (2006.01); G01N 29/00 (2006.01)
CPC (source: EP US)
B66C 13/48 (2013.01 - EP US); B66C 23/72 (2013.01 - EP US); F16M 11/18 (2013.01 - US); F16M 11/24 (2013.01 - US); F16M 11/42 (2013.01 - US); G01N 29/225 (2013.01 - EP US); G01N 29/265 (2013.01 - EP US); G01N 29/28 (2013.01 - EP US); G05D 1/0276 (2024.01 - US); Y10S 901/01 (2013.01 - EP US)
Designated contracting state (EPC)
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
DOCDB simple family (publication)
US 2015226369 A1 20150813; US 9410659 B2 20160809; EP 3105163 A1 20161221; EP 3105163 B1 20190327; US 2016281910 A1 20160929; US 9464754 B1 20161011; WO 2015119677 A1 20150813
DOCDB simple family (application)
US 201414176169 A 20140210; EP 14795919 A 20141027; US 2014062338 W 20141027; US 201615181516 A 20160614